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I'm using a 12-bit 2-channel SPI DAC to take digital audio information from WAV files and outputting directly to a 3.5mm audio-out jack, with a couple of electrolytic caps to AC couple the output. Try the MCP4922 chip. It connects to the ESP32 with 3 SPI pins (clock, chip select, data) and needs a 5v reference voltage. It outputs 0v-5v depending on the input values of 0 to 4095. I use this library to access the MCP4922: https://github.com/RobTillaart/MCP_DAC and it works great and the resulting audio sounds great. It's not audiofile level, but I've done public performances and nobody can really tell the difference.